스튜어트플랫폼 기반 흄관매설용 자동화장비의 프로토타입 개발

Concrete pipe laying works are conducted in most of the construction sites The pipe laying activity includes excavation and pipe laying tasks Excavation, inn particular trenching, presents a hazardous working environment for humans Chances are collapse of sidewalls of the trenches, and dropping the pipes during pipe handling and moving, and so on in addition, the improper pipe connection method causes soil contamination, resulted in environmental problems several automated systems for the pipe laying works have been developed 10 advanced countries to improve safety and productivity They mainly focused upon easy handling and clamping system for the pipes The major objectives of this research are to develop a prototype of tele operated pipe manipulator based on stewart platform for improving safety, productivity and quality, to evaluate technical feasibility and to analyze productivity of the prototype.